CN104608391B - Method and system for confirming printing direction of stereoscopic printing machine - Google Patents
Method and system for confirming printing direction of stereoscopic printing machine Download PDFInfo
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- CN104608391B CN104608391B CN201510092226.3A CN201510092226A CN104608391B CN 104608391 B CN104608391 B CN 104608391B CN 201510092226 A CN201510092226 A CN 201510092226A CN 104608391 B CN104608391 B CN 104608391B
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Abstract
The invention discloses a method and a system for confirming the printing direction of a stereoscopic printing machine. The method comprises the following steps of carrying out gravity rolling simulation on a stereoscopic printing object model before a stereoscopic printing object is printed, and confirming the placement position of the stereoscopic printing object on using least external support under the action of gravity; secondarily, carrying out simulating placement on the stereoscopic printing object model according to the confirmed placement position, and then carrying out simulating slicing on the stereoscopic printing object model to confirm the stereoscopic printing direction of the stereoscopic printing object; and finally printing the stereoscopic printing object by adopting the confirmed stereoscopic printing direction of the stereoscopic printing object. According to the method and the system which are disclosed by the embodiment of the invention, the direction of the stereoscopic printing direction can be adaptively adjusted, the operation is simple, the implementation is easy, and the printing quality is improved.
Description
Technical field
The present invention relates to technology of prining, particularly to a kind of method and system in the direction of prining determining three-dimensional printing machine.
Background technology
It is a kind of form of additive manufacturing technology that solid is printd, and prints in additive manufacturing technology neutral body as if stands
Body printing machine creates out by continuous physical layer.Three-dimensional printing machine for other additive manufacturing technologies,
There is speed fast, low price, the advantages of high ease for use.Three-dimensional printing machine is that can print out one kind of true stereo object sets
Standby, functionally as laser forming technology, shaped using layering processing, superposition, generated by successively increase material three-dimensional
Print object, entirely different with traditional removal materials processing technology.Being referred to as three-dimensional printing machine is to have references to its know-why,
Because the process of layering processing is quite similar with the operation principle of ink-jet printing machine.
At present, three-dimensional printing machine is carrying out three-dimensional when prining of object of prining, and first, gets the mould of three-dimensional object of prining
Type data message；Then, printd according to solid the model data information of object, using the general parameter letter of prining pre-setting
Breath, carries out solid and prints；Finally, obtain solid to print object.
During three-dimensional printing machine is printd in solid, the three-dimensional direction printd and the time of prining, the consumptive material and prining of prining
There is between quality very big relatedness.At present, the print solid direction of prining of object of solid is all default by three-dimensional printing machine
Setting, is such as set to vertical direction from top to bottom or/and the mode from left to right printd successively in horizontal direction is printd solid
Print object.But adopt and determine the direction that solid is printd in this way, be pre-set, be not will to arrange for a certain
The solid of print prints what object structure was arranged, so quality of prining can reduce.Therefore, in order to for a certain three-dimensional row to be printd
Print object structure is printd the direction it is necessary to the artificial solid adjusting three-dimensional printing machine is printd, and so, does not utilize user operation
And troublesome, realize difficult.
Content of the invention
In view of this, the embodiment of the present invention provides a kind of method in the direction of prining determining three-dimensional printing machine, the method energy
The direction that enough self-adaptative adjustment solids are printd, simple to operate, it is easy to accomplish, improve quality of prining.
The embodiment of the present invention also provides a kind of system in the direction of prining determining three-dimensional printing machine, and this system being capable of self adaptation
The direction that adjustment solid is printd, simple to operate, it is easy to accomplish, improve quality of prining.
According to above-mentioned purpose, the present invention is achieved in that
A kind of method in the direction of prining determining three-dimensional printing machine, the method includes:
Object model that solid is printd carries out gravity rolling simulation, determines that solid prints object under gravity using
Few EXS putting position；
According to determined by putting position simulation put solid and print after object model, object model that this solid is printd enters
Row simulation section, determines that the print solid of object of this solid is printd direction.
Described determination solid object of prining using minimum EXS putting position is under gravity:
Simulated by gravity rolling, the naturally static putting position of object model that solid is printd is as initial position；
Solid being printd object model from the beginning of initial position, being rolled by the object under the conditions of simulated gravity so that standing
Body object of prining reaches naturally stable putting position；
Record the solid space coordinate of this naturally stable putting position, print object in action of gravity as determination solid
The lower solid space coordinate using minimum EXS putting position.
Described gravity rolling is modeled as:
Printd the center of gravity of object model and the concordance of gravity direction by judging solid, print object model in conjunction with solid
Exposure level region feature judge solid print object whether can on putting position remains stationary；
Static deviation is set simultaneously, when the print center of gravity of object model and the deviation of gravity direction of solid reaches setting
Static deviation after, determine that static solid is printd the putting position of object.
The direction that described object rolls be by solid print object model initial position gravity direction centered on, with around
This gravity ground level tour divides angular way selection equally, and this gravity ground level described is the longitudinal direction that gravity direction is located
The horizontal plane being located with the horizontal point of interface that center of gravity is located.
Described by solid print object model initial position gravity direction centered on, with around this gravity ground level one week
360 degree of processes dividing angular way selection equally are:
Setting number will be bisected into around this gravity ground level tour, it is right on each number direction, solid to be printd
As model carries out parabolic, solid print object naturally fallen by gravity simulation steady after, record the solid space of this putting position
Coordinate；
The solid space coordinate of this putting position is carried out, after horizontal translation and rotation, screening out same putting position
Afterwards, this solid after being screened is printd the putting position of model；
This solid after screening is printd model putting position carry out set angle rock after simulation, after being screened
This solid print model putting position degree of stability, degree of stability highest putting position is printd object mould as this solid
Type reaches naturally stable putting position.
Described simulation section is that the solid being in putting position is printd object model is cut into slices, corresponding every layer of section life
Become control instruction of prining, control instruction of prining is converted to encoding of graphs gcode and is printd.
Before described object model that this solid is printd is simulated section, the method also includes:
Object model that solid is printd carries out projected outline's analysis, outside each putting position of the three-dimensional object of prining of determination
Portion supports, and selectes the wherein optimum putting position of external support as the putting position determining.
Described carry out projected outline and analyze be:
A) obtain the current angular projection of three-dimensional object model of prining, contour curve identification is carried out to this projection；
B) feature locations are identified according to contour curve, the corresponding solid in record this feature position is printd the space bit of object
Put；
C) judge whether to print in object itself already contained in solid, if it is, current angular is replaced with next
Angle, return to step a) executes；If it is not, then execution step d)；
D) analyze solid to print the outline curved surface features of object model, calculate corresponding solid and print object's position accumulation
Area；
E) judge that the angled projection of institute all completes, if it is, execution step f)；If it is not, then by current angular
Replace with next angle, return to step a) executes；
F) using corresponding for minimum accumulation surface area putting position as the optimum putting position of external support as determination
Putting position.
A kind of system in the direction of prining determining three-dimensional printing machine, comprising: gravity rolling analogue unit and simulation section are single
Unit, wherein,
Gravity rolling analogue unit, carries out gravity rolling simulation for object model that solid is printd, determines that solid is printd
Object is under gravity using minimum EXS putting position；
Simulation section unit, puts solid for putting position simulation determined by basis and prints after object model, to this
Solid object model of prining is simulated section, determines that the print solid of object of this solid is printd direction.
Also include projected outline's analytic unit, the projected outline for object model that this solid is printd is analyzed, really
Determine solid print object each putting position external support, select the wherein optimum putting position of external support as determination
Putting position.
As can be seen from the above scheme, the embodiment of the present invention is before solid of prining prints object, object that solid is printd
Model carries out gravity rolling simulation, determines that solid prints object under gravity using minimum EXS putting position；
Secondly, according to determined by putting position simulation put solid and print after object model, object model that this solid is printd is carried out
Simulation section, determines that the print solid of object of this solid is printd direction；Finally, using determined by this solid print the vertical of object
Body direction this solid of prining of prining is printd object.The direction that embodiment of the present invention self-adaptative adjustment solid is printd, simple to operate, easily
In realization, improve the quality printd.
Brief description
Fig. 1 is the method flow diagram in the direction of prining determining three-dimensional printing machine provided in an embodiment of the present invention；
Fig. 2 is that solid provided in an embodiment of the present invention is printd the center of gravity of object and the deviation schematic diagram of gravity direction；
Fig. 3 is the rotating direction schematic diagram of gravity rolling simulation provided in an embodiment of the present invention；
Fig. 4 be provided in an embodiment of the present invention projection angle be 1,2,3 position when solid the printd profile of object throw
Shadow schematic diagram；
Fig. 5 is 1 shown in Fig. 4 provided in an embodiment of the present invention, 2,3 position when print object and solid of solid print object
Outline projection schematic diagram；
Fig. 6 is the method flow diagram that object that solid is printd provided in an embodiment of the present invention carries out projected outline's analysis；
Fig. 7 is the system structure diagram in the direction of prining determining three-dimensional printing machine provided in an embodiment of the present invention.
Specific embodiment
For making the objects, technical solutions and advantages of the present invention become more apparent, develop simultaneously embodiment referring to the drawings, right
The present invention is described in further detail.
The direction that the embodiment of the present invention is printd for self-adaptative adjustment solid, thus the operation of easy user, and it is easy to real
The quality that existing and raising is printd, the process simulation of prining of object that solid is printd, determine the three-dimensional row of three-dimensional object of prining
India side to.Specifically it is simply that before solid of prining prints object, object model that solid is printd carries out gravity rolling mould
Intend, determine that solid prints object under gravity using minimum EXS putting position；Secondly, according to determined by put
Put position simulation and put solid and print after object model, object model that this solid is printd is simulated section, determines this solid
The solid of object of prining is printd direction；Finally, using determined by the solid direction of prining of this object of prining printd.
From experimental data it can be shown that when solid print object model printd for solid print object when, same
Print under parameter, such as print thickness precision, phantom thicknesses, filling of parameter of prining when is printd speed, solid object of prining exists
Can put under action of gravity put posture and the plane of exterior contour is less with the total angle of horizontal plane angle sum, this sum
Angle of prining set by three-dimensional printing machine for the angle limits within, then need external support structure fewer so that
Print consumptive material and waste external support consumptive material also fewer.Based on above-mentioned narration, the present embodiment solid is printd object model enters
Row gravity rolling is simulated, and determines that solid prints object under gravity using minimum EXS putting position, thus carrying
Quality of prining when height is subsequently really printd.
Fig. 1 is the method flow diagram in the direction of prining determining three-dimensional printing machine provided in an embodiment of the present invention, and it specifically walks
Suddenly it is:
Step 101, object model that solid is printd carry out gravity rolling simulation, determine that solid prints object in action of gravity
Lower using minimum EXS putting position；
This step adopts software to realize, that is, carries out gravity rolling simulation using software solid is printd object model,
Determine that solid prints object under gravity using minimum EXS putting position；
Here, solid determined by prints object under gravity using minimum EXS putting position one
Or it is multiple；
Step 102, according to determined by putting position simulation put solid and print after object model, it is right that this solid is printd
As model is simulated section, determine that the print solid of object of this solid is printd direction；
This step adopts software to realize, and the simulation section object model that refers to the solid being in putting position is printd is carried out
After simulation section, corresponding every layer of section generation is printd control instruction, and control instruction of prining is converted to encoding of graphs (gcode) and enters
Ranks print, and the solid of object is printd direction, the method for this section and angle it is determined that this solid is printd for the direction of section and angle
Ensure to employ minimum external support.
Further, simulate slicing processes, can also estimate and obtain the time of prining according to the parameter characteristic of three-dimensional printing machine
With information of prining such as consumptive materials of prining.
In embodiments of the present invention, gravity rolling simulation is exactly in three-dimensional coordinate system, is printd object by simulating stereo
Junk situation under gravity environment.It is generally divided into three steps and determine that solid prints object under gravity using minimum outer
The putting position that portion supports:
First step, is simulated by gravity rolling, solid is printd the naturally static putting position of object model as
Initial position；
Second step, solid is printd object model from the beginning of initial position, by the object under the conditions of simulated gravity
So that solid is printd, object reaches naturally stable putting position for rolling；
3rd step, records the solid space coordinate of this naturally stable putting position, right as determining that solid is printd
As under gravity using the solid space coordinate of minimum EXS putting position.
Determined by under solid space coordinate this solid print to as if can naturally put, entered with this putting position
Row subsequent column be printed on beneficial to solid print object nature molding, reduce extra external support as far as possible.
In above-mentioned narration, gravity rolling simulation is passed through to judge the center of gravity of three-dimensional object model of prining and gravity direction
In conjunction with solid object model exposure level region feature of prining, concordance, judges whether solid object of prining can be protected on putting position
Hold static, simultaneously need to determining that solid object of prining is quiet by the print center of gravity of object model and the deviation of gravity direction of solid
Putting position only, static putting position can affect the stability of three-dimensional object of prining, that is, arranges static deviation, when
Solid print the center of gravity of object model and the deviation of gravity direction reach the static deviation of setting after it is determined that static solid
Print the putting position of object.Fig. 2 is that solid provided in an embodiment of the present invention is printd the center of gravity of object and the deviation of gravity direction
Schematic diagram.
In the second step of above-mentioned narration, rotating direction be with solid print object model initial position gravity side
To centered on, with around this gravity ground level tour divide equally angular way selection, this gravity ground level described is gravity side
The horizontal plane being located to the horizontal point of interface that the longitudinal direction being located and center of gravity are located.Fig. 3 is gravity provided in an embodiment of the present invention
The rotating direction schematic diagram of rolling simulation, the example for a reference shown in Fig. 3, specifically:
First step, will be bisected into 4 parts around this gravity ground level tour, will stand along 1,2,3,4 four directions
Body object model of prining carries out parabolic, solid print object naturally fallen by gravity simulation steady after, record this putting position
Solid space coordinate it is assumed that four direction all carried out solid print object model parabolic it is determined that solid print object
Putting position be ni (i=1,2,3 ... n)；
Second step, after putting position ni is carried out with horizontal translation and rotation, after screening out same putting position, obtains
To this solid print model putting position nj (j=1,2,3 ... m), m be less than n；
3rd step, the putting position nj of model that this solid is printd carries out the rocking after simulation of set angle, obtains
The degree of stability of putting position nj, degree of stability highest putting position nj is reached natural stability as this solid object model of prining
Putting position.
Before step 102 provided in an embodiment of the present invention, the method includes: object model that solid is printd projects
Edge analysis, determine the external support of each putting position of three-dimensional object of prining, and select wherein optimum the putting of external support
Position is as the putting position determining.The step for be optional step, when the solid determined in a step 101 object of prining exists
Under action of gravity using minimum EXS putting position be one when it is possible to directly omission this step.
In embodiments of the present invention, projected outline's analysis is that solid the is printd space profiles information of object putting position is entered
Row analysis, object that the EXS solid of needs is printd carries out the further optimized choice on direction of prining, and determination is adopted
External support, with determine solid print object putting position whether can produce extra external support and lead to consumptive material and
Print the increase of time.Specifically, each putting position nj of object of solid being printd carries out cutting Angles Projections analysis
Outer contoured features, cutting angle initialization according to required precision, is carried out with the print angle cutting of dividing equally of object top view of solid,
As shown in figure 4,360 degree of deciles are carried out projected outline's analysis, Fig. 4 be provided in an embodiment of the present invention projection angle be 1,2,
During 3 position, solid is printd the outline projection schematic diagram of object.Fig. 5 is 1,2,3 positions shown in Fig. 4 provided in an embodiment of the present invention
Print object and solid of Shi Liti is printd the outline projection schematic diagram of object.As illustrated, the upper figure in Fig. 5 be 1,2,3 positions
Shi Liti prints the structural representation of object, the figure below in Fig. 5 is 1,2,3 position when solid print object outline projection structure
Illustrate.
The outline projection of object that solid is printd is processed, and identifies contour curve, carries out tracing analysiss, specifically
Say: with solid print object model bottom putting position parallel lines as x-axis, with placing direction as y-axis, set up space coordinatess
System, is designated as angle a with the angle of curve near tangent and x-axis, and angle a is defined as curve radian needs generation external support could arrange
Print angle, angle a be more than or equal to 0, but be less than 90 degree, and determine angle a lower section no solid print object entity support, then
It is labeled.As the curved surface in circle in Fig. 5, obtain the corresponding solid of curved surface and print object's position, calculate corresponding three-dimensional row
Print object's position accumulation area, it is assumed that the accumulation surface area of putting position nj is sj, subsequently then tires out to the minimum setting number
The corresponding putting position nj of long-pending surface area sj is simulated slice analysis.
Fig. 6 is the method flow diagram that object that solid is printd provided in an embodiment of the present invention carries out projected outline's analysis, its
Concretely comprise the following steps:
Step 601, the current angular projection of the three-dimensional object model of prining of acquisition；
Step 602, contour curve identification is carried out to this projection；
Step 603, feature locations are identified according to contour curve；
Step 604, the corresponding solid in record this feature position are printd the locus of object model；
Step 605, judge whether to print in object model itself already contained in solid, if it is, by current angular
Replace with next angle, return to step 601 executes；If it is not, then execution step 606；
Step 606, analysis solid are printd object model outline curved surface features；
Step 607, calculate corresponding solid and print the position accumulation area of object model；
Step 608, the angled projection of judgement institute all complete, if it is, execution step 609；If it is not, then ought
Front angle replaces with next angle, and return to step 601 executes；
Step 609, using corresponding for minimum accumulation surface area sj putting position nj as external support optimum put position
Put as the putting position determining.
Fig. 7 is the system structure diagram in the direction of prining determining three-dimensional printing machine provided in an embodiment of the present invention, comprising:
Gravity rolling analogue unit and simulation section unit, wherein,
Gravity rolling analogue unit, carries out gravity rolling simulation for object model that solid is printd, determines that solid is printd
Object is under gravity using minimum EXS putting position；
Simulation section unit, puts solid for putting position simulation determined by basis and prints after object model, to this
Solid object model of prining is simulated section, determines that the print solid of object of this solid is printd direction.
Within the system, also include projected outline's analytic unit, for the projected outline of object model that this solid is printd
It is analyzed, determines the external support of each putting position of three-dimensional object of prining, select wherein optimum the putting of external support
Position is as the putting position determining.
The object, technical solutions and advantages of the present invention are further described, institute by above act preferred embodiment
It should be understood that the foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all the present invention's
Spirit and principle within, any modification, equivalent and improvement of being made etc., should be included in protection scope of the present invention it
Interior.
Claims (9)
1. a kind of method in the direction of prining determining three-dimensional printing machine is it is characterised in that the method includes:
Object model that solid is printd carries out gravity rolling simulation, determines that solid prints object under gravity using minimum outer
The putting position that portion supports, further includes: is simulated by gravity rolling, solid is printd naturally static the putting of object model
Position is as initial position；Solid is printd object model from the beginning of initial position, by the object rolling under the conditions of simulated gravity
It is dynamic that so that solid is printd, object reaches naturally stable putting position；Record the solid space of this naturally stable putting position
Coordinate, prints object under gravity using the solid space seat of minimum EXS putting position as determination solid
Mark；
According to determined by putting position simulation put solid and print after object model, object model that this solid is printd carries out mould
Intend section, determine that the print solid of object of this solid is printd direction.
2. the method for claim 1 is it is characterised in that described gravity rolling is modeled as:
Printd the center of gravity of object model and the concordance of gravity direction by judging solid, contact in conjunction with solid object model of prining
Horizontal region feature judge solid print object whether can on putting position remains stationary；
Static deviation is set simultaneously, when the solid center of gravity of object model of prining reaches the quiet of setting with the deviation of gravity direction
Only after deviation, determine that static solid is printd the putting position of object.
3. the method for claim 1 is it is characterised in that the direction that described object rolls is to be printd object model with solid
The gravity direction of initial position centered on, with around this gravity ground level tour divide equally angular way selection, described should
Gravity ground level is the horizontal plane that the longitudinal direction that gravity direction is located is located with the horizontal point of interface that center of gravity is located.
4. method as claimed in claim 3 it is characterised in that described with solid print object model initial position gravity
Centered on direction, with the process dividing angular way selection around this gravity ground level tour equally it is:
Setting number will be bisected into around this gravity ground level tour, solid will be printd object mould by each number direction
Type carries out parabolic, solid print object naturally fallen by gravity simulation steady after, record the solid space coordinate of this putting position；
The solid space coordinate of this putting position is carried out, after horizontal translation and rotation, after screening out same putting position, obtaining
This solid to after screening is printd the putting position of model；
This solid after screening is printd model putting position carry out set angle rock after simulation, this after screen
Solid print model putting position degree of stability, degree of stability highest putting position is reached as this solid object model of prining
To naturally stable putting position.
5. the method for claim 1 is it is characterised in that described simulation section is that the solid being in putting position is printd
Object model is cut into slices, and corresponding every layer of section generation is printd control instruction, and control instruction of prining is converted to encoding of graphs
Gcode is printd.
6. the method for claim 1 is it is characterised in that be simulated section in described object model that this solid is printd
Before, the method also includes:
Object model that solid is printd carries out projected outline's analysis, determines that the outside of each putting position of three-dimensional object of prining is propped up
Support, selectes the wherein optimum putting position of external support as the putting position determining.
7. method as claimed in claim 6 it is characterised in that described carry out projected outline and analyze be:
A) obtain the current angular projection of three-dimensional object model of prining, contour curve identification is carried out to this projection；
B) feature locations are identified according to contour curve, the corresponding solid in record this feature position is printd the locus of object；
C) judge whether to print in object itself already contained in solid, if it is, current angular is replaced with next angle,
Return to step a) executes；If it is not, then execution step d)；
D) analyze solid to print the outline curved surface features of object model, calculate corresponding solid and print object's position accumulation face
Long-pending；
E) judge that the angled projection of institute all completes, if it is, execution step f)；If it is not, then current angular is replaced
For next angle, return to step a) execution；
F) using corresponding for minimum accumulation surface area putting position as the optimum putting position of external support as the pendulum determining
Put position.
8. the system in the direction of prining of determination solid printing machine of a kind of method described in any one using claim 1-7, its
It is characterised by, comprising: gravity rolling analogue unit and simulation section unit, wherein,
Gravity rolling analogue unit, carries out gravity rolling simulation for object model that solid is printd, and determines that solid is printd object
Under gravity using minimum EXS putting position；
Simulation section unit, puts solid for putting position simulation determined by basis and prints after object model, to this solid
Object model of prining is simulated section, determines that the print solid of object of this solid is printd direction.
9. system as claimed in claim 8 it is characterised in that
Also include projected outline's analytic unit, the projected outline for object model that this solid is printd is analyzed, determine vertical
Body print object each putting position external support, select the wherein optimum putting position of external support as the pendulum determining
Put position.
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| CN201510092226.3A CN104608391B (en) | 2015-03-02 | 2015-03-02 | Method and system for confirming printing direction of stereoscopic printing machine |
| TW104122602A TWI638714B (en) | 2015-03-02 | 2015-07-13 | Self-adaptive method of tuning printing direction in printing three-dimension model and system to achieve it |
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| CN201510092226.3A CN104608391B (en) | 2015-03-02 | 2015-03-02 | Method and system for confirming printing direction of stereoscopic printing machine |
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| CN104890238B (en) * | 2015-04-30 | 2017-05-24 | 北京敏速自动控制设备有限公司 | Three-dimensional printing method and system thereof |
| CN105479741B (en) * | 2015-06-12 | 2017-10-10 | 青岛智能产业技术研究院 | A kind of 3D printing system for space environment |
| CN105034366B (en) * | 2015-06-30 | 2017-06-16 | 英华达（上海）科技有限公司 | A kind of detection method of 3D printer and its printing reduction degree |
| CN106553335A (en) * | 2015-09-24 | 2017-04-05 | 优克材料科技股份有限公司 | 3 D-printing method |
| CN112406108A (en) * | 2020-10-28 | 2021-02-26 | 优你造科技(北京)有限公司 | Method and system for generating support structure in 3D printing |
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| CN103700144A (en) * | 2014-01-14 | 2014-04-02 | 河海大学常州校区 | Significance-based mesh-model 3D (three-dimensional) printing fragmenting method |
| CN103823928A (en) * | 2014-02-19 | 2014-05-28 | 浙江大学 | Method for automatically generating support of three-dimensional printing part on basis of scanning biasing |
| CN103962556A (en) * | 2014-04-16 | 2014-08-06 | 广州中国科学院先进技术研究所 | Pure titanium powder forming method based on selected area laser melting technology |
| CN104015360A (en) * | 2014-06-13 | 2014-09-03 | 英华达（上海）科技有限公司 | Line printing method for three-dimensional line printing machine, and storage device |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201632343A (en) | 2016-09-16 |
| CN104608391A (en) | 2015-05-13 |
| TWI638714B (en) | 2018-10-21 |
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